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pariaspepariaspe
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Merge pull request #549 from JdeRobot/testing
Add Launch Tests and enforce in CI
2 parents 21bc451 + 43b756b commit b917ab2

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‎.github/workflows/ros2_gz_harmonic_launch_tests.yaml‎

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name: ROS 2 Launch Tests (Gazebo Harmonic)
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on:
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push:
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branches: [main, testing]
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pull_request:
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branches: [main, testing]
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workflow_dispatch:
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env:
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WORLDS_DIR: /opt/jderobot
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ROS_DISTRO: humble
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jobs:
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launch-tests:
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runs-on: ubuntu-22.04
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timeout-minutes: 30
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steps:
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- name: Create checkout directory with proper permissions
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run: |
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sudo mkdir -p ${{ env.WORLDS_DIR }}
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sudo chmod -R 777 ${{ env.WORLDS_DIR }}
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- name: Checkout repository
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uses: actions/checkout@v3
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- name: copy worlds
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run: |
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sudo cp -r ${{ github.workspace }}/Worlds ${{ env.WORLDS_DIR }}
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sudo cp -r ${{ github.workspace }}/jderobot_drones ${{ env.WORLDS_DIR }}
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- name: Setup ROS 2 Humble
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run: |
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# Add the ROS 2 apt repository with updated key
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sudo apt-get update && sudo apt-get install -y curl gnupg lsb-release
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt-get update
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# Install ROS 2 packages
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sudo apt-get install -y ros-humble-ros-base python3-colcon-common-extensions
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- name: "Setup Gazebo"
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uses: gazebo-tooling/[email protected]
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with:
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required-gazebo-distributions: harmonic
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- name: "Test Gazebo installation"
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run: "gz sim --versions"
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- name: Install Gazebo classic and resolve version conflicts
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run: |
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sudo add-apt-repository ppa:openrobotics/gazebo11-gz-cli
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sudo apt update
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sudo apt-get install gazebo11
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# Resolve version conflicts
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sudo apt-get remove libgazebo11
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sudo apt-get install libgazebo11=11.10.2+dfsg-1
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sudo apt-get install libgazebo-dev
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- name: Install aerostack2 and dependencies
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run: |
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sudo apt-get install -y ros-humble-xacro
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sudo apt-get install -y ros-humble-geographic-msgs libgeographic-dev ros-humble-mocap4r2-msgs
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sudo apt install git python3-rosdep python3-pip python3-colcon-common-extensions -y
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mkdir -p ./aerostack2_ws/src/ && cd ./aerostack2_ws/src/
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git clone https://github.com/aerostack2/aerostack2.git
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cd ..
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sudo rosdep init
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rosdep update
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rosdep install -y -r -q --from-paths src --ignore-src
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sudo apt install ros-humble-ros-gzharmonic
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- name: "Test Gazebo installation"
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run: "gz sim --versions"
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- name: Setup Python dependencies
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run: |
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python -m pip install --upgrade pip
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if [ -f test/requirements.txt ]; then
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pip install -r test/requirements.txt
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fi
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pip install pytest pytest-timeout pytest-cov
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- name: Configure Gazebo for headless rendering
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run: |
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# Configure display for headless rendering
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echo "export GAZEBO_IP=127.0.0.1" >> $GITHUB_ENV
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echo "export OGRE_RTT_MODE=Copy" >> $GITHUB_ENV
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echo "export DISPLAY=:1" >> $GITHUB_ENV
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# Configure audio to use null devices
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echo "export AUDIODEV=null" >> $GITHUB_ENV
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echo "export SDL_AUDIODRIVER=dummy" >> $GITHUB_ENV
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# Create dummy ALSA config
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echo 'pcm.!default { type null; }' > ~/.asoundrc
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echo 'ctl.!default { type null; }' >> ~/.asoundrc
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# Set up virtual framebuffer for visual rendering
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sudo apt-get install -y xvfb
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Xvfb :1 -screen 0 1280x1024x24 &
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# Give Xvfb and audio config time to initialize
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sleep 3
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- name: add only Harmonic tests to ros package
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run: sed -i 's|file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/test\*\.py")|file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/harmonic/test_*.py")|' CustomRobots/CMakeLists.txt
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- name: Build workspace
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run: |
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source /opt/ros/humble/setup.bash
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colcon build --symlink-install
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- name: Rename Launch Files
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run: |
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cp install/as2_state_estimator/share/as2_state_estimator/launch/ground_truth_state_estimator.launch.py install/as2_state_estimator/share/as2_state_estimator/launch/ground_truth-state_estimator.launch.py
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cp install/as2_motion_controller/share/as2_motion_controller/launch/pid_speed_controller.launch.py install/as2_motion_controller/share/as2_motion_controller/launch/pid_speed_controller-motion_controller.launch.py
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- name: Run launch tests
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run: |
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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colcon test --packages-select custom_robots --event-handlers console_direct+ --return-code-on-test-failure
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- name: Show test results
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if: always()
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run: |
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colcon test-result --verbose

‎.github/workflows/ros2_launch_tests.yaml‎

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name: ROS 2 Launch Tests
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on:
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push:
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branches: [main, testing]
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pull_request:
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branches: [main, testing]
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workflow_dispatch:
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env:
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WORLDS_DIR: /opt/jderobot
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ROS_DISTRO: humble
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jobs:
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launch-tests:
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runs-on: ubuntu-22.04
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timeout-minutes: 30
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steps:
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- name: Create checkout directory with proper permissions
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run: |
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sudo mkdir -p ${{ env.WORLDS_DIR }}
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sudo chmod -R 777 ${{ env.WORLDS_DIR }}
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- name: Checkout repository
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uses: actions/checkout@v3
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- name: copy worlds
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run: |
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sudo cp -r ${{ github.workspace }}/Worlds ${{ env.WORLDS_DIR }}
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- name: Setup ROS 2 Humble
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run: |
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# Add the ROS 2 apt repository with updated key
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sudo apt-get update && sudo apt-get install -y curl gnupg lsb-release
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt-get update
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# Install ROS 2 packages
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sudo apt-get install -y ros-humble-ros-base python3-colcon-common-extensions
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- name: Install Gazebo and dependencies
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run: |
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# First install libunwind-dev to satisfy dependency requirements
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sudo apt-get update
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sudo apt-get install -y libunwind-dev
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# Then install the rest of the packages
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sudo apt-get install -y python3-pip python3-pytest-timeout python3-pytest-cov \
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ros-humble-launch-testing ros-humble-launch-testing-ament-cmake \
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ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros ros-humble-xacro \
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ros-humble-joint-state-publisher ros-humble-robot-state-publisher \
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ros-humble-nav2-msgs ros-humble-turtlebot3-msgs
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# Install Gazebo separately with --fix-broken option
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sudo apt-get install -y --fix-broken gazebo libgazebo-dev
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- name: Setup Python dependencies
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run: |
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python -m pip install --upgrade pip
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if [ -f test/requirements.txt ]; then
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pip install -r test/requirements.txt
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fi
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pip install pytest pytest-timeout pytest-cov
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- name: Configure Gazebo for headless rendering
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run: |
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# Configure display for headless rendering
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echo "export GAZEBO_IP=127.0.0.1" >> $GITHUB_ENV
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echo "export OGRE_RTT_MODE=Copy" >> $GITHUB_ENV
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echo "export DISPLAY=:1" >> $GITHUB_ENV
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# Configure audio to use null devices
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echo "export AUDIODEV=null" >> $GITHUB_ENV
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echo "export SDL_AUDIODRIVER=dummy" >> $GITHUB_ENV
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# Create dummy ALSA config
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echo 'pcm.!default { type null; }' > ~/.asoundrc
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echo 'ctl.!default { type null; }' >> ~/.asoundrc
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# Set up virtual framebuffer for visual rendering
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sudo apt-get install -y xvfb
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Xvfb :1 -screen 0 1280x1024x24 &
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# Give Xvfb and audio config time to initialize
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sleep 3
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- name: Build workspace
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run: |
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source /opt/ros/humble/setup.bash
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source /usr/share/gazebo/setup.sh
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colcon build --symlink-install --packages-up-to custom_robots
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- name: Run launch tests
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run: |
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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source /usr/share/gazebo/setup.bash
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colcon test --packages-select custom_robots --event-handlers console_direct+ --return-code-on-test-failure
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- name: Show test results
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if: always()
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run: |
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colcon test-result --verbose

‎.gitignore‎

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# IDEs
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.vscode
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# Tests
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build
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install
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test/__pycache__/
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# Logs
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**log**
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‎CustomRobots/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(custom_robots)
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# Define project root directory
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set(RI_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/..)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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pick_place/urdf
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DESTINATION share/${PROJECT_NAME})
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install(
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FILES ${RI_ROOT_DIR}/Launchers/follow_road.launch.py
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${RI_ROOT_DIR}/Launchers/rescue_people.launch.py
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DESTINATION share/${PROJECT_NAME}/launch)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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# find_package(ament_lint_auto REQUIRED)
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# ament_lint_auto_find_test_dependencies()
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find_package(launch_testing_ament_cmake REQUIRED)
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# Use file(GLOB...) to find all test files matching the pattern
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file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/test*.py")
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# Loop through each test file and add it as a launch test
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foreach(test_file ${TEST_FILES})
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add_launch_test(${test_file} TIMEOUT 90)
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endforeach()
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endif()
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ament_export_libraries(personplugin)

‎CustomRobots/car_junction/launch/car_junction.launch.py‎

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"GAZEBO_MODEL_PATH"
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] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
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start_ros_gazebo_bridge = Node(
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package="ros_gz_bridge",
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executable="parameter_bridge",
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arguments=[
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"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
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"/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
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"/odom@nav_msgs/msg/Odometry]gz.msgs.Odometry",
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"/waymo/lidar/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
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"/waymo/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
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],
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parameters=[{'use_sim_time': True}],
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output="screen"
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),
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start_ros_gazebo_bridge = (
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Node(
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package="ros_gz_bridge",
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executable="parameter_bridge",
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arguments=[
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"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
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"/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
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"/odom@nav_msgs/msg/Odometry]gz.msgs.Odometry",
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"/waymo/lidar/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
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"/waymo/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
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],
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parameters=[{"use_sim_time": True}],
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output="screen",
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),
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)
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start_ros_gazebo_image_bridge = Node(
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package="ros_gz_image",
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executable="image_bridge",

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